I have a nonlinear system with order 5. I have designed linear or nonlinear control algorithms for the systems. The input of the system have to be a positive signal and should have some upper bounds to it. LQG , PID, State feedback (by linarization) as well as nonlinear control like Sliding mode control and super twisting algorithm is giving a negative peak in its control signal. For this reason I have to reject the negative peak in the control signal before giving it to the plant.
How can I overcome this problem?
The base of regulation is the feedback, so you can not make a control with constant sign. otherwise you can have a bounded control. you can try the teel aproach for linear system. For non linear system you can try one of my last results in SIAM
https://www.researchgate.net/publication/280881444_L_p-Stabilization_of_Integrator_Chains_Subject_to_Input_Saturation_Using_Lyapunov-Based_Homogeneous_Design?ev=prf_high
Regards
Article $L_p$-Stabilization of Integrator Chains Subject to Input Sa...
add a value to your control action which can be neglected with time with your control action
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So you could make a static map between the control and the output and use feedback to compensate for the uncertainties and disturbances.
Is your system differentially flat ?
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